Manipulator velocity field control with dynamic friction compensation

Author

Moreno, Javier ; Kelly, Rafael

Author_Institution

Div. de Fisica Aplicada, CICESE, Ensenada, Mexico

Volume

4

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

3834

Abstract

A velocity field controller for robot manipulators is proposed in this paper. The control structure is based on the use of a velocity field kinematic control scheme for joint velocity resolution and a joint velocity controller. Since dynamic friction is considered at the robot joints, the inner joint velocity, controller uses an observer for friction compensation. The proposed scheme has been implemented on a two degrees-of-freedom direct-drive arm, illustrating the performance of the proposed observer-based controller.

Keywords

compensation; friction; manipulator dynamics; velocity control; 2 DOF; direct drive arm; dynamic friction compensation; inner joint velocity; joint velocity controller; joint velocity resolution; manipulator velocity field control; observer based controller; robot joints; robot manipulators; two degrees of freedom; velocity field controller; velocity field kinematic control; Friction; Kinematics; Manipulator dynamics; Motion control; Orbital robotics; Robots; Symmetric matrices; Tracking; Trajectory; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1271747

Filename

1271747